Research On Kinematics And Virtual Prototype Kinematic Simulation Of 7-Function Underwater Manipulator

With the development of the ocean resources exploitation, people pay more attention to the operation ability of underwater robot in recent years. Underwater manipulator is one of the main common operation tools for underwater robot. The technology of a 7-function underwater manipulator is researched in this paper.The international and domestic development of underwater robot is introduced. The research and development of underwater manipulator, at home and abroad, is expounded.According all demands that related, an expected technology criterion has been proposed as a basic goal in this paper. Basing on that goal and many examples, this manipulator adopted six degree of freedom architecture. The hydraulic drive is adopted.The kinematical model of the manipulator is analyzed and established, and the forward and inverse kinematical equation is obtained. An algebraic is proposed to obtain the solutions of this model and the Jacobin matrix is deducted. The inverse solutions are optimized base on the optimal compliant criterion. With Monte Carlo Method, the manipulator workspace is analyzed in the MATLAB software environment.The manipulator error is analyzed with the differential method, and the formula of error is deduced. The joint error influence on the manipulator end error is discussed by example based on the error formula. The source of manipulator error is expounded. The errors caused by the sensors and manufacture are simulated in the MATLAB software environment, the results show that manipulator error is suitable for its position precision.The virtual prototype of underwater manipulator is finished in the Pro/ENGINEER environment. The virtual prototype kinematics is performed and the workspace is verified. The interference investigation is carried out. The results show that there is no interference between the parts of underwater manipulator. The foundation is established for later design and calculation.